Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Tax Credit Carryforward [Line Items]
General business credit	$ 9
Foreign tax credit carryforwards	2,345	$ 2,345
Valuation allowance increase	682
Interest and penalties	74	56
Non-current income taxes payable	366	$ 311
Decrease in unrecognized tax benefits is reasonably possible	25
Federal
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	22,854
Federal | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Unrecognized excess tax benefit	5,842
State Tax Authority
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	3,154
Unrecognized excess tax benefit	96
State Tax Authority | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Unrecognized excess tax benefit	$ 4,181